Session-6

automatic control
systems
Dr. Saber Abdrabbo
 Sequence 6.3
Control system stability analysis

 Preview: Last sequence covered the

system performance
• Response of 1st order,
• and 2nd oreder system,
• steady state error and
• system types and stability concepts .
 Present: current sequence treats stability
analysis of control system using
• Rauth’s array
• Nyquist stability criterion
 Rouths Criterion

1  G( S ) H ( S )  0

coefficients ai will be arranged in the

first two rows of the Routh schema,
which contains (n+1) rows:
1-The coefficients (bn-1, bn-2…) in the third
row are the results from cross multiplication
the first two rows according to

2-Building the cross products one

starts with the elements of the first
row. The calculation of these values
will be continued until all remaining
elements become zero. The calculation
of the “c” values are performed
accordingly from the two rows above
as follows:

3-From these new rows

further rows will be built in
the same way, where for the
last two rows finally
and
 Condition of Routh stability criterion: The system is stable, if and only if the
following conditions are valid:
a) all ai coefficients are positive,
b) All bn-1, cn-1 …. coefficients in the first column of the Routh schema are
positive.

Example1 : Check the stability of the following system which has the
following characteristic equation

The Routh schema is

As in the first row of the Routh schema

a coefficient is negative
the system is unstable.
 Example 2:Find the values of K0 which puts the shown system at limit
of stability.
Solution
The closed loop T. F is

T1T2 1 0
3
(T1+T2) K0 0
The characteristic equation of the closed loop is 2
1 b1 0
0 K0

b1=[T1+T2 –T1T2 K0]/(T1+T2)

Condition of stability
T1T2>0
T1+T2>0 Resonant frequency can be obtained by solving
the characteristic equation in frequency domain
Ko
r 
K0> 0 T1  T2
 Frequency Response analysis
The frequency response is defined as the magnitude and
phase relationship between the sinusoidal input and the
steady state sinusoidal output of the system

Control
system

The frequency response is calculated

From the sinusoidal transfer function as follows
-Substatute j in place of S in the system transfer function
- obtain the amplitude and phase angle in term of
frequency 
These can be treated using
1- Nyquist plot and nyquist stability criterion
2-Bode diagram
 Nyquist plot and Nyquist stability criterion
Nyquist plot
a-Nyquist plot for zero type system
Nyquist contour of zero type system is plotted as shown in
figure which consists of three parts
1-along part a Substitute j in place of S in the system
transfer function and draw polar plot
-obtain the amplitude and phase angle in term of
frequency 
-assume  from zero to infinity and find the
corresponding amplitude and phase angle
- and draw polar plot on complex plane
2- along part C substitute j in place of S ( x axis Image or
mirror of polar plot)
3-along part b S  Re j as R   this part tends to zero amp.
 Nyquist plot and Nyquist stability criterion
b-Nyquist plot for Non-zero type system
Nyquist contour of Non-zero type system is plotted as shown
in figure which consists of four parts
Repeat step 1,2 and 3 for zero type system.
j
4-along part d S  re as r  0 this part
tends to infinity amplitude varies from:
(v)*90o to –(v)*90o
Where v is the system type number
Nyquist stability criterion
The characteristic equation is 1  G( S ) H ( S )  0
G(j)H(j)=-1which represent the point (-1,0j)
Nequist Stability criterion is Z=P+N where
N is the no. of clockwise encirclements around the point (-1,0j)
P is the No. of poles of GH at right hand side of S plane
N is the No. of zeros of 1+GH at right hand side of S plane i.e. for
stable system Z=0
Example:3
Sketch Nyuist plot for the following system and check the system stability.

Solution:
The system is zero type system. It obeys the shown
Nyquist contour
1-Along part a : S=j
100
G ( j  ) H ( j )  hence
( j  1)(0.1j  1)
100
A( ) 
(( ) 2  1)((0.1 ) 2  1)
   tan 1 ( )  tan 1 (0.1 )
Asume  (from 0 to infinity) and find A and Φ to draw
the polar plot with the shown red color
2- along part c. It is the mirror of polar plot and draw
with green color
3- along part b S  Re j as R   this leads to A=0
 the following MATLAB Commands can be use to draw the same
nyquist plot
num=[100];
den= [ 0.1 1.1 1];
sys=tf(num,den);
Nyquist(sys)
Stability check: N=0 P=0 N+P=0 the system is stable
Example:4
Sketch Nyuist plot for the following system and check the system stability.

The system is Non zero type system. It obeys the shown

Nyquist contour
0.5
1-Along part a : S=j G ( j ) H ( j )  hence
 ( j  1)(j  1)
0.25
A( ) 
 (( ) 2  1)(( ) 2  1)
  90  tan 1 ( )  tan 1 ( )
 Example4(cont.)

Asume  (from 0 to infinity) and find A and Φ to draw

the polar plot with the shown red color
2- along part c. It is the mirror of polar plot and drown
with green color
j
3-along part b S  Re as R   this leads to A=0
4-along part d S  re j as r  0 this part
tends to A= infinity varies from:
90o to –90o and drown with yellow color
Stability check: N=0 P=0 N+P=0
the system is stable

MATLAB code
num=[0.5];
den= [ 1 2 1 0];
sys=tf(num,den);
Nyquist(sys)
 Summary

current sequence covered stability analysis of control system using

Routh’s array and
Nyquist stability criterion
With MATLAB application
 Assessment
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link below.

Good Luck